Postby emerckx » Thu May 26, 2016 10:41 pm
Hello Carlo,
In the experiment that I'm implementing, an eye-bot is flying around in the arena. But when it encounters an obstacle (a box, a cylinder, a self implemented sphere, ...), the eye-bot needs to ascend in the z-direction to go over the object. After that, the eye-bot goes forward to pass the object, and after he has passed the object he needs to return to his original height.
However, the eye-bot must sense that he has passed the object, which I was planning to do using the altitude sensor. When the current reading has more free space than the previous, he could decline in height.
So actually, I thought of using the altitude sensor as a distance sensor in the negative z direction.
And I hoped it would give the following results in the following cases:
- if no object beneath eye-bot: reading altitude sensor = reading of positioning sensor's z value.
- if object beneath eye-bot: reading altitude sensor = reading of positioning sensor's z value - height of that object
And as I mentioned in my previous post, it could also be used for landing on objects, because the eye-bot knows when it's safe to decline and when he can stop his motors.
Of course, the use case where eye-bots may not land on an object, is also possible in the simulator.
I hope this explanation clarifies the approach and the need for a sensor in the z-direction.
Sincerely yours,
Ewout Merckx